The invention relates to a method for steering assistance in an autonomous or semi-autonomous vehicle. The method comprises identifying an upcoming curve, detecting an inner lane boundary and an outer lane boundary of the upcoming curve, determining a safety distance between the vehicle and the outer lane boundary, and controlling a position of the vehicle in the curve with respect to the inner and outer lane boundary such that the vehicle is at a distance from the outer lane boundary which is equal to or larger than the safety distance. The invention further relates to a steering assistance system capable of performing the method for steering assistance.